launch_pal

Utilities for simplifying some common ROS2 launch operations.

get_pal_configuration

Implementation of the PAL’s PAPS-007 standard for configuration management.

Retrieves all the parameters, remappings and arguments for a given node by looking for ament_index-registered YAML configurations file. It properly handle overloading of parameters, enabling for instance to have a default configuration and a specific configuration for a given robot family or robot unit.

User overrides

Users can provide local overrides via configuration files in $HOME/.pal/config.

For instance, creating a file ~/.pal/config/default_volume.yml with the content:

/volume:
  ros__parameters:
    default_volume: 75

would override the ROS parameter default_volume for the node /volume.

This is useful for eg persist user configuration across robot reboots.

The default location of user configuration is $HOME/.pal/config. It can by changed by setting the environment variable $PAL_USER_PARAMETERS_PATH.

Automatic command-line arguments

If get_pal_configuration is called with cmdline_args=True (default), it will automatically add command-line launch arguments for all parameters in the configuration file. This allows for easy configuration of the node via the command line (see for instance --show-args).

Alternatively, the user can provide a list of parameters to be exposed as command-line arguments. This is useful for instance to expose only a subset of parameters.

This behavior can be disabled by setting cmdline_args=False.

Usage

#...
from launch_pal import get_pal_configuration

def generate_launch_description():

    ld = LaunchDescription()

    config = get_pal_configuration(pkg='pkg_name',
                                   node='node_name', 
                                   ld=ld, # optional if cmdline_args = False
                                   cmdline_args=[Bool|list]) # optional, True by default
                                   )
    my_node = Node(
        name='node_name',
        namespace='',
        package='pkg_name',
        executable='node_executable',
        parameters=config['parameters'],
        remappings=config['remappings'],
        arguments=config['arguments'],
    )

    # ...

    ld.add_action(my_node)

    return ld

robot_arguments

Contains classes to read launch argument settings directly from a YAML file, grouped per robot type. For each argument the name, the description, default value and possible choices are provided. The classes can be imported to remove boilerplate of robot launch arguments.

One special class,

```, contains all available
launch arguments for PAL Robots. These arguments consist of only a name and description.

Example:


```python
from launch_pal.arg_utils import LaunchArgumentsBase
from launch_pal.robot_arguments import CommonArgs, RobotArgs
from launch.actions import DeclareLaunchArgument
from dataclasses import dataclass

@dataclass(frozen=True)
class LaunchArguments(LaunchArgumentsBase):

    # Frequently used LaunchArguments
    wheel_model: DeclareLaunchArgument = CommonArgs.robot_name
    # PAL common Robot specific  LaunchArguments
    base_type: DeclareLaunchArgument = RobotArgs.base_type

arg_utils

Contains utilities for declaring launch arguments and removing boiler plate.

LaunchArgumentsBase: A dataclass that contains only DeclareLaunchArgument objects. The class is used to ease the process of adding launch arguments to the launch description. Has member function add_to_launch_description to automatically add all launch arguments to the launch description.

read_launch_argument: Used in Opaque functions to read the value of a launch argument and substitute it to text.

param_utils

Contains utilities for merging yaml parameter files or replace parametric variables in a param file.

parse_parametric_yaml: Checks yaml files for variables of layout ${VAR_NAME} and parses them. Parsing is done by giving a dictionary as input:

parse_dict = { VAR_NAME_1: value_1,
               VAR_NAME_2: value_2}

merge_param_files: Merges multiple yaml files into one single file to be loaded by a node.

include_utils

Contains utilities to reduce the boilerplate necessary for including files.

include_launch_py_description: Include a python launch file.

include_scoped_launch_py_description: Include a python launch file but avoid all launch arguments to be passed on by default. Any required launch arguments have to explicitly passed on to the launch file.

    scoped_launch_file = include_scoped_launch_py_description(pkg_name='my_pkg', 
    paths=['launch','my_file.launch.py'],
    launch_arguments={ 'arg_a': DeclareLaunchArgument('arg_a'),
                       'arg_2': DeclareLaunchArgument('arg_b'),
                       'arg_c': LaunchConfiguration('arg_c'),
                       'arg_d': "some_value' }
    env_vars=[SetEnvironmentVariable("VAR_NAME", 'value)]
    condition=IfCondition(LaunchConfiguration('arg_a')))

NOTE: This mimics the behavior of including launch files in ROS 1. Helpful in large launch files structures to avoid launch arguments to be overwritten by accident.

composition_utils

Contains utilities to reduce the boilerplate necessary for using ROS 2 components

generate_component_list: generates a list of composable nodes from a YAML and a package name, ready to be added or loaded into a ComposableNodeContainer:

components:
  <COMPONENT-NAME>:
    type: <DIAGNOSTIC-TYPE>
      ros__parameters: 
        name: <FULL-DIAGNOSTIC_DESCRIPTOR>
        [<REST-OF-PARAMS>]

It can be used from a launch file like:

component_list = generate_component_list(components_yaml, pkg_name)

And then added normally to a container:

container = ComposableNodeContainer(
    name="container_name",
    namespace="",
    package="rclcpp_components",
    executable="component_container",
    composable_node_descriptions=component_list,
)

Actions

CheckPublicSim

Raises an exception if the is_public_sim argument is being used correctly, that is, ensure that when using a simulation outside PAL the argument is set to true.

ValidateLaunchArgs

Checks that all the passed arguments using ros2 launch are declared in the launch file. This prevents passing uncorrectly typed arguments to a launch file, which would result in unexpected behaviours as the defaults would be used without warning.

validate_launch_args = ValidateLaunchArgs(launch_args=launch_args)
launch_description.add_action(validate_launch_args)

ValidateXacroArgs

It does two things:

• Checks that all the arguments that are being passed from the launch file to the xacro are declared in it, failing if not.
• Checks that all the declared arguments in the xacro are receiving a value from the launch file, giving a warning if not. This allows to know exactly which argument is being used in the robot description.

validate_xacro_args = ValidateXacroArgs(xacro_path=xacro_file_path, xacro_input_args=xacro_input_args)
launch_description.add_action(validate_xacro_args)

robot_utils (DEPRECATED)

Declare a single launch argument given by the robot name.

Example:

robot_name = 'tiago'
laser_model_arg = get_laser_model(robot_name)

Changelog for package launch_pal

0.8.0 (2024-11-11)

• Suggestions apply
• Added xacro missing arg warning
• Removing unnecesary parsing
• Launch arguments check
• Xacro args checker
• Contributors: oscarmartinez

0.7.0 (2024-10-16)

• update README iwith get_pal_configuration automatic arguments
• [pal_get_params] ensure we get the default values for nested parameters
• [get_pal_parm] automatically creates cmdline arguments for node params This is controlled by the 'cmdline_args' param of :
  • cmdline_args=True (default): create cmd line arguments for all params
  • cmdline_args=[...]: create cmdline arguments for the listed params
  • cmdline_args=False: do not create cmdline arguments
• [get_pal_param] show config files from high to lower precedence This is a more natural order in practise
• Contributors: Séverin Lemaignan

0.6.0 (2024-09-26)

• Add tool_changer arg
• Contributors: thomas.peyrucain

0.5.0 (2024-09-17)

• add deprecation note to the robot_utils methods
• Contributors: Sai Kishor Kothakota

0.4.0 (2024-08-28)

• add tests for namespace
• add namespaces option when including launch file
• Contributors: thomasung

0.3.0 (2024-08-06)

• Add talos and kangaroo as robots
• Contributors: Adria Roig

0.2.0 (2024-08-05)

• [test] make sure changing AMENT_PREFIX_PATH does not spill out of the tests
• PAPS-007: better logging for invalid user configuration files
• get_pal_parameters: improved logging In particular, list all the configuration files found for the node, by order of precedence
• PAPS-007 - get_pal_parameters: add support for user configuration in ~/.pal/config The location of user configuration can be overridden via envvar $PAL_USER_PARAMETERS_PATH.
• Contributors: Séverin Lemaignan

0.1.15 (2024-07-04)

• Merge branch 'omm/feat/composition_utils' into 'master' Composition utils See merge request common/launch_pal!38
• Added package field for extended usability
• Readme and new type variable name
• Removing pal_computer_monitor dep
• Composition utils to generate containers from a yaml files
• Merge branch 'paps007' into 'master' Add implementation of PAPS-007 'get_pal_configuration' See merge request common/launch_pal!57
• add impl of PAPS-007 'get_pal_configuration'
• Merge branch 'abr/feat/advanced-navigation' into 'master' added advanced navigation See merge request common/launch_pal!58
• added advanced navigation
• Contributors: Noel Jimenez, Oscar, Séverin Lemaignan, antoniobrandi, davidterkuile

0.1.14 (2024-07-03)

• Merge branch 'air/feat/add_slam' into 'master' add slam param See merge request common/launch_pal!60
• fix declare slam
• add slam param
• Merge branch 'feature/tiago-dual-support' into 'master' feat: add robot_name arg to CommonArgs See merge request common/launch_pal!59
• feat: add robot_name to CommonArgs
• feat: tiago dual support
• Contributors: Aina, davidterkuile, josegarcia

0.1.13 (2024-06-26)

• Merge branch 'dtk/move-robot-args' into 'master' Dtk/move robot args See merge request common/launch_pal!56
• Remove robot configurations
• ArgFactory class to create launch args from yaml
• Move common args
• Contributors: David ter Kuile, davidterkuile

0.1.12 (2024-06-11)

• Update Changelog
• Merge branch 'tpe/upate_std_and_launch_arg' into 'master' update lauch args for the omni base See merge request common/launch_pal!55
• update lauch args for the omni base
• Contributors: David ter Kuile, davidterkuile, thomas.peyrucain
• Merge branch 'tpe/upate_std_and_launch_arg' into 'master' update lauch args for the omni base See merge request common/launch_pal!55
• update lauch args for the omni base
• Contributors: davidterkuile, thomas.peyrucain

0.1.11 (2024-05-28)

• Merge branch 'feat/aca/find-pkg-share-yaml' into 'master' Feat/aca/find pkg share yaml See merge request common/launch_pal!54
• linters
• linters
• linters
• added import, modified explication
• extend _parse_config functionality
• Contributors: andreacapodacqua, davidterkuile

0.1.10 (2024-05-17)

• Merge branch 'omm/feat/rgdb_sensors_rename' into 'master' Proper courier_rgbd_sensor name See merge request common/launch_pal!52
• Proper courier_rgbd_sensor name
• Contributors: davidterkuile, oscarmartinez

0.1.9 (2024-05-16)

• Merge branch 'VKG/fix/screen-parameters' into 'master' fixed screen parameters, edited configuration and robot argument files See merge request common/launch_pal!51
• typo fixed
• fixed screen parameters, edited configuration and robot argument files
• Contributors: Vamsi GUDA, davidterkuile

0.1.8 (2024-05-15)

• Merge branch 'omm/common_pos_args' into 'master' Robot position args added to common See merge request common/launch_pal!50
• Robot position args added to common
• Contributors: davidterkuile, oscarmartinez

0.1.7 (2024-05-09)

• Merge branch 'dtk/fix/bool-args' into 'master' Set all boolean robot args to capital value See merge request common/launch_pal!49
• Set all boolean robot args to capital value
• Contributors: Noel Jimenez, davidterkuile

0.1.6 (2024-05-08)

• added tuck arm parameter
• Contributors: sergiacosta

0.1.5 (2024-04-26)

• fix tests
• fix _parse_config to be able to have a variable between text
• Contributors: Aina Irisarri

0.1.4 (2024-04-12)

• Added is_public_sim action check
• Add wheel model
• Remove wrong realsense camera arg name
• Contributors: David ter Kuile, Oscar, davidterkuile

0.1.3 (2024-04-09)

• Changed arm name from sea to tiago-sea for standarization
• Contributors: Oscar

0.1.2 (2024-04-08)

• Avoid breaking tiago pro tests
• Update realsense name in camera rgument
• Contributors: David ter Kuile, davidterkuile

0.1.1 (2024-03-21)

• Fix flake test
• Add sensor manager as common arg
• Contributors: David ter Kuile, davidterkuile

0.1.0 (2024-03-20)

• Update default values
• Remove unsupported lasers for now
• Change common param to is_public_sim
• Add extra common launch args
• Add wrist model for spherical wrist
• Add tiago pro config
• Fixed base_type and arm_type
• Suggested changess
• Standarized config names
• Configs for tiago_sea
• Removed has_screen from tiago_sea
• Update config to tiago sea specific arguments
• Fixing tiago_dual_configuration
• Velodyne param added
• Tiago sea dual params
• Tiago sea params
• Create a class that contains frequently used Launch arguments to avoid mismatching Uppercase/lowercase
• Contributors: David ter Kuile, Oscar, Oscar Martinez, davidterkuile

0.0.18 (2024-01-31)

• Remove right-arm option for tiago
• Contributors: Noel Jimenez

0.0.17 (2024-01-29)

• tiago_pro robot_name added in the possible choices
• Contributors: ileniaperrella

0.0.16 (2024-01-18)

• removing epick
• adding robotiq as end effector for tiago dual
• Adding pal_robotiq grippers as part of choises for the end_effector in ros2
• Contributors: Aina Irisarri

0.0.15 (2024-01-17)

• Add right-arm as arm type for backwards compability
• Change arm type from right-arm to tiago-arm
• Remove unecessary whitelines
• Update README
• Contributors: David ter Kuile

0.0.14 (2023-12-04)

• Update style errors
• fix typo and add type hint
• update typo
• Update configuration file keywords
• Enable autocomplete for robot arguments
• Use assertDictEqual in test
• Type hint and use get_share_directory function
• update readme
• Add tests
• Update include scoped launch for more intuitive use
• Contributors: David ter Kuile

0.0.13 (2023-11-29)

• Remove triple quotes
• Add docstrings and update README
• Change yaml file to single quotes
• change to double quotes to be consistent in robot config yaml
• Update linting
• Update tiaog config and add tiago_dual config
• Add launch arg factory
• Update linting
• Add get_configuration function to robotConfig
• Update tiago configuration
• Add base dataclass with for launch args
• update linting
• Update types
• loop over value instead of items
• A bit of documentation
• Add scoped launch file inclusion
• Create function to translate setting to launch arg
• Create initial version of robot configuration
• Contributors: David ter Kuile

0.0.12 (2023-11-14)

• Add website tag
• added support for omni_base
• Contributors: Noel Jimenez, andreacapodacqua

0.0.11 (2023-11-09)

• Initial ARI support
• autopep8 line wrapping
• Contributors: Séverin Lemaignan

0.0.10 (2023-10-10)

• Merge branch 'yen/feat/pmb3_robot' into 'master' Add pmb3 utils See merge request common/launch_pal!18
• feat: Add pmb3 utils
• Contributors: YueErro

0.0.9 (2023-07-07)

• Remove not supported choices
• Contributors: Noel Jimenez

0.0.8 (2023-06-13)

• fix cast when bool equals False
• Contributors: antoniobrandi

0.0.7 (2023-04-04)

• added parse_parametric_yaml utils
• Contributors: antoniobrandi

0.0.6 (2022-10-19)

• Merge branch 'update_copyright' into 'master' Update copyright See merge request common/launch_pal!6
• update copyright
• Merge branch 'update_maintainers' into 'master' Update maintainers See merge request common/launch_pal!5
• update maintainers
• Merge branch 'arg_robot_name' into 'master' Add get_robot_name argument to choose default value See merge request common/launch_pal!4
• add get_robot_name arg to choose default value
• Merge branch 'robot_utils' into 'master' Robot utils See merge request common/launch_pal!3
• pal-gripper as default end_effector
• launch methods for tiago
• linters
• rm unused import
• robot utils for pmb2
• Merge branch 'fix_slash_warns' into 'master' Fix slash warns See merge request common/launch_pal!2
• fix slash warns
• Contributors: Jordan Palacios, Noel Jimenez

0.0.5 (2021-08-13)

• Merge branch 'change_include_utils_to_substitutions' into 'master' Change Text type to substitutions for include utils See merge request common/launch_pal!1
• change Text type to substitutions
• Contributors: cescfolch, victor

0.0.4 (2021-07-21)

• Linter fixes
• Add load file substitution
• Contributors: Victor Lopez

0.0.3 (2021-06-30)

• Add arg_utils.py
• Contributors: Victor Lopez

0.0.2 (2021-03-15)

• Added missing dependencies
• Contributors: Jordan Palacios

0.0.1 (2021-03-15)

• Add CONTRIBUTING and LICENSE
• Apply linter fixes
• Add param_utils
• PAL utils for ROS2 launch files
• Contributors: Victor Lopez